Robotic Systems

The aim of this research is to develop cooperative multi-robot learning and adaptive control methodologies in the presence of uncertainties. In absence of a leader, each robot navigates independently.

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Machine Drives

This research focuses on the development of next generation of AC machine drives mainly for Permanent Magnet Synchronous Machines (PMSM) and Induction Machines (IM).

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Energy Conversion

A variety of innovative energy conversion systems are implemented on different types of converters: three-phase rectifiers/inverters, matrix converters, and DC/DC converters.

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Energy Storage

Efficient energy storage is instrumental in meeting future energy needs. This research focuses on diagnosis and prognosis methods for various types of batteries and supercapacitors.

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Sponsors
Carleton University
NSERC

Description

In most existing robotic systems, maximizing stiffness to minimize vibration and achieve good position accuracy of robots is a key element in their design. This high stiffness is achieved by using heavy material and a bulky design. Hence, the existing heavy rigid robots are shown to be inefficient in terms of power consumption and operational speed. In order to improve industrial productivity, reducing the weight of the arms and increasing their speed of operation are required. Therefore, light-weight robotic systems have received a thorough attention lately, thanks to their larger work volume, better maneuverability, higher operational speed, power efficiency, lower cost, and larger number of applications. However, controlling such systems still faces numerous challenges that need to be addressed before they can be used in abundance in everyday real-life applications. The severe nonlinearities, varying operating conditions, structured and unstructured dynamical uncertainties, and external disturbances, are among the typical challenges to be faced with when dealing with such often ill-defined systems.

Description

AC machines proved to be the solution to application which requires high torque density, high precision, wide speed range and efficiency such as electric vehicles and wind turbines. Although these machines are designed to produce high torque per volume and constant power over wide speed range, achieving all of these benefits underlays the proper optimum control system based on the behavior of the machines. Since they can be used in various applications, their performance is limited to unknown uncertainties, such as load torque variations and external disturbances. Therefore, an advanced control method is required to utilize them at the best of their performance.

Description

In the last decade, alternative energy sources such as renewable energies have received a thorough attention and have been considered as a way of fighting climate change. Among renewable energies, wind turbine has become the world's fastest growing energy generator. Variable speed wind turbines are widely used in many high performance applications and offer several advantages with respect to their fixed speed counterpart, such as maximum power extraction from the wind and reduced power electronics requirements and costs. Thus, a variable speed generator achieves optimal energy generation by adjusting its rotational speed to track wind speed. However, wind turbine dynamics is highly nonlinear and wind speed is continuously variable and unpredictable. The conflicting requirements between the nature of wind and optimal energy generation make the wind turbine control task a challenging research problem. Typical challenges include varying operating conditions, high nonlinearities, and external disturbances. This raises the urgency to consider alternative approaches for efficient power generation to keep up with the increasingly energy demand requirements.

Description

Lithium-ion batteries and other emergies chemisteries have received an increasing interest from the scientific community. Unlike other types of batteries such as lead acid, nickel cadmium (NiCd) and nickel metal hydride (NiMH), they offer higher energy efficiency and power density. Moreover, several other advantages such as low steady-state float current, light weight, small size, wide temperature operation range, rapid charge capability, long life cycle, low self-discharge rate, no memory effects, and absence of hydrogen outgassing make them good candidates for many applications such as laptops, mobile phones, and electric vehicles. However, optimal energy utilization and minimization of degradation effects are among the typical challenges to be faced. State of charge (SoC) and State of health (SoH), both expressed in percentage, are the equivalent for batteries of an energy and a lifetime gauge, respectively. Therefore, the accuracy of SoC and SoH algorithms remains an important aspect in battery management systems (BMS) as a bad SoC estimation might significantly damage the battery and ultimately result in reduced battery life.